DOI: 10.1109/iccas.2016.7832456
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Abstract: A new nonlinear optimal control approach is proposed for autonomous navigation of unmanned surface vessels. The dynamic model of the surface vessels undergoes approximate linearization round local operating points which are redefined at each iteration of the control algorithm. These temporary equilibria consist of the last value of the vessel's state vector and of the last value of the control signal that was exerted on it. For the approximate linearization of the system's dynamics Taylor series expansion is p…

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